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ros2_driver.zip

大小:19.4MB

价格:10积分

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评分:

5.0

上传者:freshmanxx

更新日期:2025-09-22

ros2-driver.zip

资源文件列表(大概)

文件名

大小

ros2_driver/

ros2_driver/src/

ros2_driver/src/serial-ros2-master_0/

ros2_driver/src/serial-ros2-master_0/CHANGELOG.rst

4.03KB

ros2_driver/src/serial-ros2-master_0/CMakeLists.txt

1.62KB

ros2_driver/src/serial-ros2-master_0/Makefile

1.65KB

ros2_driver/src/serial-ros2-master_0/README.md

3.2KB

ros2_driver/src/serial-ros2-master_0/changes.txt

259B

ros2_driver/src/serial-ros2-master_0/doc/

ros2_driver/src/serial-ros2-master_0/doc/Doxyfile

103.84KB

ros2_driver/src/serial-ros2-master_0/doc/serial.dox

1.69KB

ros2_driver/src/serial-ros2-master_0/examples/

ros2_driver/src/serial-ros2-master_0/examples/serial_example.cc

4.18KB

ros2_driver/src/serial-ros2-master_0/include/

ros2_driver/src/serial-ros2-master_0/include/serial/

ros2_driver/src/serial-ros2-master_0/include/serial/impl/

ros2_driver/src/serial-ros2-master_0/include/serial/impl/unix.h

4.21KB

ros2_driver/src/serial-ros2-master_0/include/serial/impl/win.h

3.81KB

ros2_driver/src/serial-ros2-master_0/include/serial/serial.h

23.15KB

ros2_driver/src/serial-ros2-master_0/include/serial/v8stdint.h

2.2KB

ros2_driver/src/serial-ros2-master_0/package.xml

919B

ros2_driver/src/serial-ros2-master_0/serial.sublime-project

575B

ros2_driver/src/serial-ros2-master_0/src/

ros2_driver/src/serial-ros2-master_0/src/impl/

ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/

ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_linux.cc

7.07KB

ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_osx.cc

7.03KB

ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_win.cc

3.63KB

ros2_driver/src/serial-ros2-master_0/src/impl/unix.cc

25.58KB

ros2_driver/src/serial-ros2-master_0/src/impl/win.cc

14.7KB

ros2_driver/src/serial-ros2-master_0/src/serial.cc

8.18KB

ros2_driver/src/serial-ros2-master_0/tests/

ros2_driver/src/serial-ros2-master_0/tests/CMakeLists.txt

469B

ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/

ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/mdc2250.cc

11B

ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/python_serial_test.py

273B

ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/tokenizer.cc

769B

ros2_driver/src/serial-ros2-master_0/tests/unit/

ros2_driver/src/serial-ros2-master_0/tests/unit/unix_timer_tests.cc

1.41KB

ros2_driver/src/serial-ros2-master_0/tests/unix_serial_tests.cc

2.4KB

ros2_driver/src/serial-ros2-master_0/visual_studio/

ros2_driver/src/serial-ros2-master_0/visual_studio/serial/

ros2_driver/src/serial-ros2-master_0/visual_studio/serial/serial.vcxproj

7.17KB

ros2_driver/src/serial-ros2-master_0/visual_studio/serial/serial.vcxproj.filters

1.49KB

ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/

ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/test_serial.vcxproj

6.45KB

ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/test_serial.vcxproj.filters

956B

ros2_driver/src/serial-ros2-master_0/visual_studio/visual_studio.sln

1.93KB

ros2_driver/src/ti_mmwave_rospkg_0/

ros2_driver/src/ti_mmwave_rospkg_0/CMakeLists.txt

4.64KB

ros2_driver/src/ti_mmwave_rospkg_0/README.md

7.77KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/

ros2_driver/src/ti_mmwave_rospkg_0/bin/3D_people_count_68xx_demo.bin

606.75KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/README.txt

2.62KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/small_obstacle_detection_68xx.bin

525.94KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr14xx_mmw_demo.bin

147.63KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr16xx_mmw_demo.bin

313.57KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr18xx_mmw_demo.bin

317.19KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr64xxAOP_(6843AOP)_mmw_demo.bin

400.69KB

ros2_driver/src/ti_mmwave_rospkg_0/bin/xwrl6432_mmw_demo.appimage

203.38KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/

ros2_driver/src/ti_mmwave_rospkg_0/cfg/1443_Standard.cfg

1.18KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/1642_Standard.cfg

1.41KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/1843_3d_hw_trig.cfg

1.45KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/1843_Standard.cfg

1.44KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6432_Classification.cfg

1.53KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6432_Standard_Uncompressed.cfg

1.48KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843AOP_Standard.cfg

1.46KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843AOP_Tracking.cfg

1.57KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Occupancy.cfg

1.54KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Standard.cfg

1.47KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Tracking.cfg

1.55KB

ros2_driver/src/ti_mmwave_rospkg_0/cfg/2294_Standard.cfg

1.44KB

ros2_driver/src/ti_mmwave_rospkg_0/config/

ros2_driver/src/ti_mmwave_rospkg_0/config/global_params.yaml

928B

ros2_driver/src/ti_mmwave_rospkg_0/docs/

ros2_driver/src/ti_mmwave_rospkg_0/docs/Multi_sensor_time_synchronization.md

12.12KB

ros2_driver/src/ti_mmwave_rospkg_0/docs/hw_sync_radar_connections_annotated.jpg

151.04KB

ros2_driver/src/ti_mmwave_rospkg_0/docs/hw_sync_sk_board_connections_annotated.jpg

234.44KB

ros2_driver/src/ti_mmwave_rospkg_0/include/

ros2_driver/src/ti_mmwave_rospkg_0/include/DataHandlerClass.h

5.85KB

ros2_driver/src/ti_mmwave_rospkg_0/include/mmWave.h

12.21KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/

ros2_driver/src/ti_mmwave_rospkg_0/launch/1443_Standard_launch.py

3.72KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/1642_Standard.py

3.08KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/1843_Standard_launch.py

3.08KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6432_Classification.py

3.09KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6432_Standard.py

3.09KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6843AOP_Standard.py

1.02KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6843AOP_Tracking.py

1.02KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Occupancy.py

1.02KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Standard.py

1.02KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Tracking.py

1.02KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/IWR6843.py

3.64KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Occupancy.cpython-310.pyc

1.89KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard.cpython-310.pyc

1.93KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard_Compressed.cpython-310.pyc

1.91KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard_Uncompressed.cpython-310.pyc

1.96KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Occupancy.cpython-310.pyc

1.81KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Occupany.cpython-310.pyc

1.83KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Standard.cpython-310.pyc

1.8KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Tracking.cpython-310.pyc

1.72KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/test_launch.cpython-310.pyc

1.7KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz.rviz

6.07KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz_launch.py

509B

ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz_old.rviz

5.72KB

ros2_driver/src/ti_mmwave_rospkg_0/launch/2294_Standard_launch.py

3.08KB

ros2_driver/src/ti_mmwave_rospkg_0/package.xml

2.64KB

ros2_driver/src/ti_mmwave_rospkg_0/src/

ros2_driver/src/ti_mmwave_rospkg_0/src/ConfigParameterServer.cpp

762B

ros2_driver/src/ti_mmwave_rospkg_0/src/DataHandlerClass.cpp

69.06KB

ros2_driver/src/ti_mmwave_rospkg_0/src/ParameterParser.cpp

9.38KB

ros2_driver/src/ti_mmwave_rospkg_0/src/mmWaveCommSrv.cpp

4.79KB

ros2_driver/src/ti_mmwave_rospkg_0/src/mmWaveQuickConfig.cpp

3.85KB

ros2_driver/src/ti_mmwave_rospkg_msgs/

ros2_driver/src/ti_mmwave_rospkg_msgs/CMakeLists.txt

1.03KB

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarClassifier.msg

29B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerDataArray.msg

79B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerDataContents.msg

14B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerFeatureArray.msg

82B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerFeatureContents.msg

118B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarOccupancy.msg

35B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarPointTrackID.msg

33B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarScan.msg

153B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackArray.msg

68B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackContents.msg

151B

ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarRawData.msg

42B

ros2_driver/src/ti_mmwave_rospkg_msgs/package.xml

1.56KB

ros2_driver/src/ti_mmwave_rospkg_msgs/srv/

ros2_driver/src/ti_mmwave_rospkg_msgs/srv/MmwaveCli.srv

28B

ros2_driver/src/ti_2944_raw_data/

ros2_driver/src/ti_2944_raw_data/.gitignore

2KB

ros2_driver/src/ti_2944_raw_data/LICENSE

1.04KB

ros2_driver/src/ti_2944_raw_data/README.md

15.89KB

ros2_driver/src/ti_2944_raw_data/configFiles/

ros2_driver/src/ti_2944_raw_data/configFiles/AWR2243_mmwaveconfig.txt

3.18KB

ros2_driver/src/ti_2944_raw_data/configFiles/cf.json

206B

ros2_driver/src/ti_2944_raw_data/configFiles/xWR1843_profile_3D.cfg

1.47KB

ros2_driver/src/ti_2944_raw_data/configFiles/profile_LVDS.cfg

1.04KB

ros2_driver/src/ti_2944_raw_data/configFiles/profile_monitor_xwr29xx.cfg

1.04KB

ros2_driver/src/ti_2944_raw_data/configFiles/profile_test_xwr29xx.cfg

1.64KB

ros2_driver/src/ti_2944_raw_data/configFiles/profile_3d_2Azim_1ElevTx.cfg

1019B

ros2_driver/src/ti_2944_raw_data/configFiles/profile_2d_3AzimTx.cfg

981B

ros2_driver/src/ti_2944_raw_data/configFiles/profile_3d_3Azim_1ElevTx.cfg

1014B

ros2_driver/src/ti_2944_raw_data/configFiles/profile_2d_2AzimTx.cfg

1003B

ros2_driver/src/ti_2944_raw_data/configFiles/profile_xwr29xx_AB_512_512_max80m.cfg

1.3KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/

ros2_driver/src/ti_2944_raw_data/fpga_udp/.appveyor.yml

368B

ros2_driver/src/ti_2944_raw_data/fpga_udp/.pre-commit-config.yaml

1.28KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/.travis.yml

1006B

ros2_driver/src/ti_2944_raw_data/fpga_udp/LICENSE

2.13KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/README.md

1.48KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/conda.recipe/

ros2_driver/src/ti_2944_raw_data/fpga_udp/conda.recipe/meta.yaml

441B

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/Makefile

7.48KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/conf.py

9.34KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/index.rst

106B

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/make.bat

7.28KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/python_example.rst

25B

ros2_driver/src/ti_2944_raw_data/fpga_udp/pyproject.toml

435B

ros2_driver/src/ti_2944_raw_data/fpga_udp/setup.py

3.03KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/AMD64/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/AMD64/ftd2xx.lib

19.79KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/ftd2xx.h

48.71KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/x86/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/x86/ftd2xx.lib

21.67KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/WzSerialportPlus.cpp

6.96KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/WzSerialportPlus.h

1.69KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/main.cpp

602B

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/makefile

1.75KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/WzSerialportPlus.cpp

4.92KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/WzSerialportPlus.h

1.74KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/main.cpp

595B

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/readme.md

1.52KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/README.md

288B

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/test.cpp

1023B

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/unlock_queue.h

2.86KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/main.cpp

22.02KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxyfile

104.38KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/annotated.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/bc_s.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/bdwn.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/classes.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/closed.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_ce79b4ceeea8a9b2ae929734fbb43c05.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_dc9b0bdf853ec1e7a1b5d5e9dc289458.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_e2b28ee948bcc85b7ae226d0d467136f.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doc.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doxygen.css

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doxygen.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dynsections.js

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/files.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/folderclosed.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/folderopen.png

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/functions.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/functions_vars.html

2.64KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/group__mmwl__port__ftdi.html

51.72KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/index.html

2.52KB

ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/jquery.js

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/menu.js

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/menudata.js

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/mmwl__port__ftdi_8c_source.html

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ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/mmwl__port__ftdi_8h_source.html

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资源内容介绍

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# ADC/UART data capturing using xWR1843/AWR2243 with DCA1000* for xWR1843: capture both raw ADC IQ data and processed UART point cloud data simultaneously in Python and C(pybind11) without mmwaveStudio* for AWR2243: capture raw ADC IQ data in Python and C(pybind11) without mmwaveStudio## Introduction* 该模块主要分为两部分，mmwave和fpga_udp: * mmwave修改自[OpenRadar](https://github.com/PreSenseRadar/OpenRadar)，用于配置文件读取、串口数据发送与接收、原始数据解析等。 * fpga_udp修改自[pybind11 example](https://github.com/pybind/python_example)以及[mmWave-DFP-2G](https://www.ti.com/tool/MMWAVE-DFP)，用于通过C语言编写的socket代码从网口接收DCA1000发回的高速的原始数据。对于AWR2243这种没有片上DSP及ARM核的型号，还实现了利用FTDI通过USB发送指令用SPI控制AWR2243的固件写入、参数配置等操作。* TI的毫米波雷达主要分两类，只有射频前端的和自带片上ARM及DSP/HWA的。前者型号有[AWR1243](https://www.ti.com/product/AWR1243)、[AWR2243](https://www.ti.com/product/AWR2243)等，后者型号有[xWR1443](https://www.ti.com/product/IWR1443)、[xWR6443](https://www.ti.com/product/IWR6443)、[xWR1843](https://www.ti.com/product/IWR1843)、[xWR6843](https://www.ti.com/product/IWR6843)、[AWR2944](https://www.ti.com/product/AWR2944)等。 * 对于只有射频前端的雷达传感器，一般是通过SPI/I2C接口向其发送控制及配置指令，并通过CSI2/LVDS接口输出原始数据。其中SPI接口可以用DCA1000板载的FTDI芯片转为USB协议直接用电脑控制，LVDS接口的数据也能用DCA1000板载的FPGA采集并转为UDP包通过以太网传输。本仓库实现了上述所有操作。 * 对于自带片上ARM及DSP的雷达传感器，则可以烧录控制程序，用片上ARM对雷达传感器进行配置，用片上DSP处理原始数据并得到点云等数据，通过UART传输。其中原始数据除了送入片上DSP，还能配置为通过LVDS接口输出，并利用DCA1000板载的FPGA采集。本仓库实现了上述所有操作。当然，自带片上ARM及DSP的雷达传感器也有SPI/I2C等接口，也可以利用该接口对雷达传感器进行配置，并通过DCA1000板载的FTDI将SPI转为USB用电脑控制。[mmwaveStudio](https://www.ti.com/tool/MMWAVE-STUDIO)就是这样做的，但本仓库暂未实现该方法，可参考[mmWave-DFP](https://www.ti.com/tool/MMWAVE-DFP)自行实现。## Prerequisites### Hardware#### for xWR1843* Connect the micro-USB port (UART) on the xWR1843 to your system* Connect the xWR1843 to a 5V barrel jack* Set power connector on the DCA1000 to RADAR_5V_IN* boot in Functional Mode: SOP[2:0]=001 * either place jumpers on pins marked as SOP0 or toggle SOP0 switches to ON, all others remain OFF* Connect the RJ45 to your system* Set a fixed IP to the local interface: 192.168.33.30#### for AWR2243* Connect the micro-USB port (FTDI) on the DCA1000 to your system* Connect the AWR2243 to a 5V barrel jack* Set power connector on the DCA1000 to RADAR_5V_IN* Put the device in SOP0 * Jumper on SOP0, all others disconnected* Connect the RJ45 to your system* Set a fixed IP to the local interface: 192.168.33.30### Software#### Windows - Microsoft Visual C++ 14.0 or greater is required. - Get it with "[Microsoft C++ Build Tools](https://visualstudio.microsoft.com/visual-cpp-build-tools/)"(Standalone MSVC compiler) or "[Visual Studio](https://visualstudio.microsoft.com/downloads/)"(IDE) and choose "Desktop development with C++" - FTDI D2XX driver and DLL is needed. - Download version [2.12.36.4](https://www.ftdichip.com/Drivers/CDM/CDM%20v2.12.36.4%20WHQL%20Certified.zip) or newer from [official website](https://ftdichip.com/drivers/d2xx-drivers/). - Unzip it and install `.\ftdibus.inf` by right-clicking this file. - Copy `.\amd64\ftd2xx64.dll` to `C:\Windows\System32\` and rename it to `ftd2xx.dll`. For 32-bit system, just copy `.\i386\ftd2xx.dll` to that directory.#### Linux - `sudo apt install python3-dev` - FTDI D2XX driver and .so lib is needed. Download version 1.4.27 or newer from [official website](https://ftdichip.com/drivers/d2xx-drivers/) based on your architecture, e.g. [X86](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-x86_32-1.4.27.tgz), [X64](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-x86_64-1.4.27.tgz), [armv7](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-arm-v7-hf-1.4.27.tgz), [aarch64](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-arm-v8-1.4.27.tgz), etc. - Then you'll need to install the library: - ``` tar -xzvf libftd2xx-arm-v8-1.4.27.tgz cd release sudo cp ftd2xx.h /usr/local/include sudo cp WinTypes.h /usr/local/include cd build sudo cp libftd2xx.so.1.4.27 /usr/local/lib sudo chmod 0755 /usr/local/lib/libftd2xx.so.1.4.27 sudo ln -sf /usr/local/lib/libftd2xx.so.1.4.27 /usr/local/lib/libftd2xx.so sudo ldconfig -v ```## Installation - clone this repository - for Windows: - `python3 -m pip install --upgrade pip` - `python3 -m pip install --upgrade setuptools` - `python3 -m pip install ./fpga_udp` - for Linux: - `sudo python3 -m pip install --upgrade pip` - `sudo python3 -m pip install --upgrade setuptools` - `sudo python3 -m pip install ./fpga_udp`## Instructions for Use#### General1. 先按照[Prerequisites](#prerequisites)搭建运行环境2. 再按[Installation](#installation)安装库3. 未提及的模块在运行时若报错请自行查询添加#### For xWR18431. 按[mmwave SDK](https://www.ti.com/tool/MMWAVE-SDK)的说明烧录xwr18xx_mmw_demo程序2. 用[mmWave_Demo_Visualizer](https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.6.0/)调整参数并保存cfg配置文件3. 打开[captureAll.py](#captureallpy)按需求修改并填入cfg配置文件地址及端口号后运行并开始采集数据4. 打开[testDecode.ipynb](#testdecodeipynb)或[testDecodeADCdata.mlx](#testdecodeadcdatamlx)解析刚才采集的数据5. 对参数不满意可以继续用[mmWave_Demo_Visualizer](https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.6.0/)调整或用[testParam.ipynb](#testparamipynb)修改并检验参数的合理性#### For AWR22431. 烧录固件补丁至外部flash（该操作只需要执行一次，重启不会丢固件） - for Windows: `python3 -c "import fpga_udp;fpga_udp.AWR2243_firmwareDownload()"` - for Linux: `sudo python3 -c "import fpga_udp;fpga_udp.AWR2243_firmwareDownload()"` - 看见"MSS Patch version [ 2. 2. 2. 0]"则烧录成功2. 打开[captureADC_AWR2243.py](#captureadc_awr2243py)按需求修改并填入txt配置文件地址并开始采集数据3. 打开[testDecode_AWR2243.ipynb](#testdecode_awr2243ipynb)解析刚才采集的数据4. 对参数不满意可以用[testParam_AWR2243.ipynb](#testparam_awr2243ipynb)修改并检验参数的合理性## Example### ***captureAll.py***同时采集原始ADC采样的IQ数据及片内DSP预处理好的点云等串口数据的示例代码（仅xWR1843）。#### 1.采集原始数据的一般流程 1. 重置雷达与DCA1000(reset_radar、reset_fpga) 2. 通过UART初始化雷达并配置相应参数(TI、setFrameCfg) 3. (optional)创建从串口接收片内DSP处理好的数据的进程(create_read_process) 4. 通过网口udp发送配置fpga指令(config_fpga) 5. 通过网口udp发送配置record数据包指令(config_record) 6. (optional)启动串口接收进程（只进行缓存清零）(start_read_process) 7. 通过网口udp发送开始采集指令(stream_start) 8. 启动UDP数据包接收线程(fastRead_in_Cpp_async_start) 9. 通过串口启动雷达（理论上通过FTDI(USB转SPI)也能控制，目前只在AWR2243上实现）(startSensor) 10. 等待UDP数据包接收线程结束+解析出原始数据(fastRead_in_Cpp_async_wait) 11. 保

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